WO2021210316A1 - Dispositif de commande et programme de commande - Google Patents

Dispositif de commande et programme de commande Download PDF

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Publication number
WO2021210316A1
WO2021210316A1 PCT/JP2021/010173 JP2021010173W WO2021210316A1 WO 2021210316 A1 WO2021210316 A1 WO 2021210316A1 JP 2021010173 W JP2021010173 W JP 2021010173W WO 2021210316 A1 WO2021210316 A1 WO 2021210316A1
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Prior art keywords
vehicle
emergency vehicle
driver
automatic driving
continuation
Prior art date
Application number
PCT/JP2021/010173
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English (en)
Japanese (ja)
Inventor
雄大 松本
晋彦 千葉
一輝 小島
しおり 間根山
有華里 伊藤
Original Assignee
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from JP2021031852A external-priority patent/JP7347459B2/ja
Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to DE112021002344.6T priority Critical patent/DE112021002344T5/de
Publication of WO2021210316A1 publication Critical patent/WO2021210316A1/fr
Priority to US17/963,677 priority patent/US20230030288A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/80—Arrangements for controlling instruments
    • B60K35/81—Arrangements for controlling instruments for controlling displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
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    • B60K2360/1868—Displaying information according to relevancy according to driving situations
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects

Definitions

  • the disclosure in this specification relates to a control device and a control program used in a vehicle capable of autonomous driving.
  • Patent Document 1 describes that the driver is in a state of a second task such as operating a smartphone or watching a TV broadcast during automatic driving by the automatic driving ECU.
  • the purpose of the present disclosure is to provide a control device and a control program that do not cause anxiety to the driver even if an emergency vehicle approaches during automatic driving.
  • one aspect disclosed is a control device used in a vehicle capable of performing automatic driving without obligation to monitor the surroundings by the driver, and the vehicle is in the automatic driving period in which the automatic driving is performed.
  • the continuation judgment unit that determines whether or not the state in which the driver is permitted to perform a specific action other than driving continues, and the continuation judgment unit permits the specific action.
  • It is a control device including a provision restriction unit that restricts the display of the content provided to the driver when it is determined that the state does not continue.
  • one aspect disclosed is a control program used in a vehicle capable of performing automatic driving without obligation to monitor the surroundings by a driver, and is used in an automatic driving period in which at least one processing unit is automatically driven.
  • a control program that executes a process including limiting the display of the content provided to the driver.
  • one aspect disclosed is a control device used in a vehicle capable of performing automatic driving without the obligation of the driver to monitor the surroundings, and the vehicle is a vehicle during the automatic driving period in which the automatic driving is performed.
  • the driver is allowed to continue automatic driving and perform specific actions other than driving.
  • It is a control device including a continuation determination unit that determines whether or not the state can be continued.
  • one aspect disclosed is a control program used in a vehicle capable of performing automatic driving without obligation of peripheral monitoring by a driver, and is used in an automatic driving period in which at least one processing unit is automatically driven.
  • a control program that executes processing including determining whether or not the vehicle is possible.
  • the function of the control device according to the first embodiment of the present disclosure is realized by an automatic operation ECU (Electronic Control Unit) 50b and an HCU (Human Machine Interface Control Unit) 100.
  • the automatic driving ECU 50b shown in FIG. 1 constitutes an automatic driving system 50 used in the vehicle Am together with a driving support ECU 50a and the like. By installing the automatic driving system 50, the vehicle Am becomes an automatic driving vehicle having an automatic driving function.
  • the HCU 100 comprises an HMI (Human Machine Interface) system used in the vehicle Am together with a plurality of display devices, an audio device 24, an operation device 26, and the like.
  • the HMI system has an input interface function that accepts operations by an occupant (for example, a driver) of the vehicle Am, and an output interface function that presents information to the driver.
  • the automatic driving ECU 50b and the HCU 100 are communicably connected to the communication bus 99 of the vehicle-mounted network 1 mounted on the vehicle Am.
  • the automatic driving ECU 50b and the HCU 100 are each one of a plurality of nodes provided in the vehicle-mounted network 1.
  • a driver monitor 29, a peripheral monitoring sensor 30, a locator 35, a vehicle-to-vehicle communication device 37, a road-to-vehicle communication device 38, a travel control ECU 40, a driving support ECU 50a, and the like are further connected to the communication bus 99.
  • These nodes connected to the communication bus 99 of the vehicle-mounted network 1 can communicate with each other.
  • the specific nodes of these devices and ECUs may be directly electrically connected to each other and can communicate with each other without going through the communication bus 99.
  • the driver monitor 29 has a configuration including a near-infrared light source, a near-infrared camera, and a control unit for controlling them.
  • the driver monitor 29 is installed in a posture in which the near-infrared camera is directed toward the headrest portion of the driver's seat, for example, on the upper surface of the steering column portion or the upper surface of the instrument panel 9.
  • the near-infrared camera may be integrally configured with the meter display 21 or the center information display (hereinafter, CID) 22 described later, and may be embedded in either screen.
  • the driver monitor 29 uses a near-infrared camera to photograph the head of the driver irradiated with near-infrared light by a near-infrared light source.
  • the image captured by the near-infrared camera is image-analyzed by the control unit.
  • the control unit extracts information such as the position of the driver's eye point and the line-of-sight direction from the captured image, and provides the extracted driver state information to the HCU 100 and the like via the communication bus 99.
  • the peripheral monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the vehicle Am.
  • the peripheral monitoring sensor 30 can detect a predetermined moving object and a stationary object from the detection range around the own vehicle.
  • the peripheral monitoring sensor 30 can at least detect a front vehicle, a rear vehicle, front and rear side vehicles, and the like traveling around the own vehicle.
  • the peripheral monitoring sensor 30 provides detection information of an object around the vehicle to the driving support ECU 50a, the automatic driving ECU 50b, and the like through the communication bus 99.
  • the peripheral monitoring sensor 30 includes, for example, a camera unit 31, a millimeter wave radar 32, and a microphone 33. Peripheral monitoring sensor 30 may further include detection configurations such as rider and sonar.
  • the camera unit 31 includes a plurality of camera modules mounted on the vehicle Am so that the front range, the side range, the rear range, etc. of the vehicle Am can be photographed.
  • Each camera module may be configured to include a monocular camera, or may be configured to include a compound eye camera.
  • the camera unit 31 outputs at least one of the imaging data obtained by photographing the surroundings of the vehicle by each camera module and the analysis result of the imaging data as detection information.
  • the millimeter wave radar 32 irradiates the millimeter wave or the quasi-millimeter wave toward the surroundings of the own vehicle.
  • the millimeter wave radar 32 outputs the detection information generated by the process of receiving the reflected wave reflected by a moving object, a stationary object, or the like.
  • the microphone 33 is a sound collector that collects environmental sounds around the vehicle Am.
  • the microphone 33 collects a specific siren sound sounded by the emergency vehicle Qs and an environmental sound including the sound of the loudspeaker. ..
  • the microphone 33 outputs at least one of the environmental sound and the information that the siren sound is extracted from the environmental sound as the detection information.
  • the locator 35 has a configuration including a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, and the like.
  • the locator 35 combines the positioning signal received by the GNSS receiver, the measurement result of the inertia sensor, the vehicle speed information output to the communication bus 99, and the like, and sequentially positions the own vehicle position and the traveling direction of the vehicle Am.
  • the locator 35 sequentially outputs the position information and the direction information of the vehicle Am based on the positioning result to the communication bus 99 as the locator information.
  • GNSS Global Navigation Satellite System
  • the locator 35 further has a map database 36.
  • the map database 36 is mainly composed of a large-capacity storage medium that stores a large number of three-dimensional map data and two-dimensional map data.
  • the three-dimensional map data is so-called high-precision map data, and includes information necessary for advanced driving support and automatic driving, such as three-dimensional shape information of roads and detailed information of each lane.
  • the locator 35 reads the map data around the current position from the map database 36 and provides the map data to the driving support ECU 50a, the automatic driving ECU 50b, and the like together with the locator information.
  • the vehicle-to-vehicle communication device 37 is mainly composed of a communication module for wireless communication with an in-vehicle device mounted on another vehicle.
  • the vehicle-to-vehicle communication device 37 can directly or indirectly transmit and receive information to and from the on-board unit of another vehicle, and acquires information such as the position and speed of the other vehicle.
  • the vehicle-to-vehicle communication device 37 receives the information transmitted from the on-board unit of the emergency vehicle Qs, that is, the position and the moving speed of the emergency vehicle Qs. It is possible.
  • the road-to-vehicle communication device 38 is mainly composed of a communication module for receiving information distributed from a roadside device installed on the side of the road.
  • the road-to-vehicle communication device 38 receives signal information, congestion information, regulation information, and the like of the road near the roadside unit by means such as FM multiplex broadcasting, radio wave beacon, and optical beacon.
  • the road-to-vehicle communication device 38 can receive information regarding the approach of the emergency vehicle Qs (see FIG. 8 and the like) from the roadside unit.
  • the travel control ECU 40 is an electronic control device mainly including a microprocessor.
  • the travel control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU.
  • the travel control ECU 40 controls the braking force of each wheel, controls the output of the in-vehicle power source, and steers based on any one of an operation command based on the driver's driving operation, a control command of the driving support ECU 50a, and a control command of the automatic driving ECU 50b.
  • Angle control is continuously performed.
  • the travel control ECU 40 generates vehicle speed information indicating the current travel speed of the vehicle Am based on the detection signal of the wheel speed sensor provided on the hub portion of each wheel, and sequentially outputs the vehicle speed information to the communication bus 99.
  • the driving support ECU 50a is an in-vehicle ECU that realizes a driving support function that supports the driving operation of the driver.
  • the driving support ECU 50a enables advanced driving support or partial automatic driving control of about level 2 which requires peripheral monitoring of the driver at the automatic driving level specified by the American Society of Automotive Engineers of Japan.
  • the operation support ECU 50a is a computer mainly including a control circuit including a processing unit, a RAM, a storage unit, an input / output interface, and a bus connecting them.
  • the driving support ECU 50a has a plurality of functional units that realize advanced driving support by executing a program by the processing unit. Specifically, the driving support ECU 50a has an ACC (Adaptive Cruise Control) function unit, an LTA (Lane Tracing Assist) function unit, and an LCA (Lane Change Assist) function unit.
  • ACC Adaptive Cruise Control
  • LTA Longe Tracing Assist
  • LCA Lane Change Assist
  • the automatic driving ECU 50b is an in-vehicle ECU that realizes an automatic driving function capable of acting as a driver's driving operation.
  • the automatic driving ECU 50b enables autonomous driving of level 3 or higher in which the system is the main control body only in a preset limited area (Operational Design Domain, ODD).
  • ODD Operational Design Domain
  • the automatic driving ECU 50b enables eye-off automatic driving that does not require the driver to visually monitor the surroundings around the vehicle.
  • the automatic operation ECU 50b may be capable of realizing an automatic operation function of level 4 or higher.
  • the automatic operation ECU 50b is a computer mainly including a control circuit including a processing unit 51, a RAM 52, a storage unit 53, an input / output interface 54, and a bus connecting them.
  • the automatic driving ECU 50b has a higher computing power than the driving support ECU 50a, and can at least perform traveling control corresponding to ACC, LTA, and LCA.
  • the processing unit 51 is hardware for arithmetic processing combined with the RAM 52.
  • the processing unit 51 is configured to include at least one arithmetic core such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit).
  • the processing unit 51 may further include an FPGA (Field-Programmable Gate Array), an NPU (Neural network Processing Unit), an IP core having other dedicated functions, and the like.
  • the processing unit 51 executes various processes for realizing the control method of the present disclosure by accessing the RAM 52.
  • the storage unit 53 is configured to include a non-volatile storage medium.
  • the storage unit 53 stores various programs (automatic operation control programs, etc.) executed by the processing unit 51.
  • the automatic operation ECU 50b has an environment recognition unit 61, an action judgment unit 62, and an operation execution as a plurality of functional units that realize automatic operation without a driver's obligation to monitor the surroundings by executing a program (automatic operation control program) by the processing unit 51. It has a part 63.
  • the environment recognition unit 61 recognizes the running environment of the vehicle Am based on the locator information and map data acquired from the locator 35 and the detection information acquired from the peripheral monitoring sensor 30. Specifically, the environment recognition unit 61 determines the position of the own vehicle lane Lns (see FIG. 8) on which the own vehicle travels among the plurality of lanes, the lane shape of the own vehicle lane Lns, and the relative position of other vehicles around the own vehicle. And grasp the relative speed, etc. The position of the own vehicle lane Lns may be specified by the locator 35. Further, the recognition result of the traveling environment by the environment recognition unit 61 may be provided to the HCU 100 as recognition information.
  • the action judgment unit 62 generates a planned driving line on which the vehicle Am is driven based on the recognition result of the driving environment by the environment recognition unit 61.
  • the action determination unit 62 refers to the route information generated by the navigation device and sequentially generates a planned traveling line for heading to the destination.
  • the operation execution unit 63 executes acceleration / deceleration control and steering control of the vehicle Am according to the scheduled travel line generated by the action determination unit 62 in cooperation with the travel control ECU 40. Specifically, the operation execution unit 63 generates a control command based on the scheduled travel line and sequentially outputs the control command to the travel control ECU 40.
  • the plurality of display devices include a meter display 21, a CID 22, a head-up display (hereinafter, HUD) 23, and the like.
  • the plurality of display devices may further include each display EMB, EML, EMR of the electronic mirror system (see FIG. 2).
  • the meter display 21, CID22 and HUD23 present information through the driver's vision.
  • the meter display 21 and the CID 22 are mainly composed of, for example, a liquid crystal display or an OLED (Organic Light Emitting Diode) display.
  • the meter display 21 and the CID 22 display various images on the display screen based on the control signal and the video data acquired from the HCU 100.
  • the meter display 21 is installed, for example, in front of the driver's seat.
  • the CID 22 is installed in the central portion of the instrument panel 9.
  • the CID 22 is a vertically long display of 10 inches or more.
  • the display screen of the CID 22 may be curved in a curved surface. Further, the display screen of the CID 22 may be continuous with the display screen of the meter display 21.
  • the CID 22 has a touch panel function, and detects, for example, a touch operation on the display screen by a driver or the like, specifically, an operation such as tapping, flicking, pinching, and swiping.
  • the HUD 23 Based on the control signal and video data acquired from the HCU 100, the HUD 23 projects the light of the image formed in front of the driver onto the projection area PA defined by the windshield WS or the like. The light of the image reflected on the vehicle interior side by the windshield WS is perceived by the driver sitting in the driver's seat. In this way, the HUD 23 displays a virtual image in the space in front of the projection area PA. The driver visually recognizes the virtual image in the angle of view VA displayed by the HUD23 on top of the foreground of the vehicle Am.
  • the audio device 24 has a plurality of speakers installed in the vehicle interior in an arrangement surrounding the driver's seat.
  • the audio device 24 reproduces a notification sound, a voice message, or the like in the vehicle interior by a speaker based on the control signal and voice data acquired from the HCU 100.
  • the audio device 24 presents information through the driver's hearing.
  • the operation device 26 is an input unit that accepts user operations by a driver or the like. For example, user operations related to the operation and stop of the automatic driving function are input to the operation device 26.
  • the operating device 26 includes a steering switch provided on the spoke portion of the steering wheel, an operating lever provided on the steering column portion, a voice input device for recognizing the utterance content of the driver, and the like.
  • a user terminal such as a smartphone may be connected to the in-vehicle network 1 or the HCU 100.
  • the user terminal functions as an interface device and can replace at least one of the display device, the audio device 24, and the operation device 26.
  • the user terminal may provide position information, direction information, map data, and the like to the driving support ECU 50a and the automatic driving ECU 50b instead of the locator 35.
  • the HCU 100 is an in-vehicle computer that controls a meter display 21, a CID 22, a HUD 23, and an audio device 24 in an HMI system.
  • the HCU 100 functions as a control device that integrally manages the presentation of information to the driver.
  • the HCU 100 mainly includes a control circuit including a processing unit 11, a RAM 52, a storage unit 13, an input / output interface 14, and a bus connecting them.
  • the processing unit 11 is hardware for arithmetic processing combined with the RAM 12.
  • the processing unit 11 has a configuration including at least one arithmetic core such as a CPU and a GPU.
  • the processing unit 11 may be configured to further include an FPGA, an NPU, an IP core having other dedicated functions, and the like.
  • the RAM 12 may be configured to include a video RAM for generating video data.
  • the processing unit 11 executes various processes for realizing the control method of the present disclosure by accessing the RAM 12.
  • the storage unit 13 is configured to include a non-volatile storage medium.
  • the storage unit 13 stores various programs (presentation control programs, etc.) executed by the processing unit 11.
  • the HCU 100 has a plurality of functional units that integrally control the presentation of information to the driver using each display device and the audio device 24 by executing the presentation control program stored in the storage unit 13 by the processing unit 11.
  • the HCU 100 is constructed with functional units such as an information acquisition unit 71, an integrated state estimation unit 73, and a provision control unit 74.
  • the information acquisition unit 71 acquires vehicle information indicating the state of the vehicle Am from the communication bus 99.
  • vehicle information includes, for example, vehicle speed information, status information indicating the state of the automatic driving function, and the like.
  • the information acquisition unit 71 acquires operation information indicating the content of the user operation from the CID 22, the operation device 26, and the like.
  • the information acquisition unit 71 acquires the driver status information from the driver monitor 29.
  • the information acquisition unit 71 acquires information necessary for generating video data to be displayed on the display device. Specifically, the information acquisition unit 71 acquires video data to be displayed as a back monitor video BM (see FIG. 5 and the like) from the camera unit 31 that captures the rear or rear side. The information acquisition unit 71 acquires locator information, map data, route information, and the like necessary for generating the navigation map MP (see FIG. 4 and the like). The video data of the navigation map MP may be generated at a predetermined resolution by a navigation device or a smartphone connected to the communication bus 99 and provided to the information acquisition unit 71.
  • the information acquisition unit 71 acquires content data (video files, etc.) necessary for entertainment-related display, such as video content CTV (see FIG. 4 etc.).
  • the content data is provided to the information acquisition unit 71 by a TV tuner mounted on the vehicle Am, an external medium electrically connected to the HCU 100, and a user terminal such as a smartphone paired with the HCU 100.
  • the integrated state estimation unit 73 acquires the driver state information generated by the driver monitor 29 from the information acquisition unit 71.
  • the integrated state estimation unit 73 determines the type of the second task performed by the driver at least during the automatic driving period. Specifically, the integrated state estimation unit 73 identifies the second task currently being executed by the driver among the plurality of types of second tasks assumed in advance.
  • the automatic driving ECU 50b and the HCU 100 temporarily allow the driver to perform an act other than driving. More specifically, the level 3 automatic driving function of the automatic driving ECU 50b enables the driver who is not obliged to monitor the surroundings to perform an act other than driving during the automatic driving period in which the vehicle Am automatically travels.
  • the act (second task) can be permitted.
  • the driver in this case is a person (passenger) who takes over the control right of driving from the automatic driving system 50 when leaving the limited area or in an emergency.
  • the driver may be legally permitted to perform a second task until a request for execution of a driving operation by the automatic driving system 50, that is, a request for a driving change (Take Over Request) is generated.
  • the second task can be called a secondary activity or another activity.
  • the second task must not prevent the driver from responding to the request to take over the driving operation from the automatic driving system 50. For example, viewing of entertainment-related contents such as video content CTV (see FIG. 4 and the like) and audio books, operation of smartphones and the like, and other actions (meals, etc.) are assumed in advance as second tasks.
  • the integrated state estimation unit 73 refers to the content playback information by the provision control unit 74, the operation information transmitted from the smartphone or the like, and combines with the state information of the driver monitor 29 to specify the second task being executed.
  • the integrated state estimation unit 73 may be able to estimate the second task to be performed by the driver from the image captured by the near-infrared camera by using, for example, a determination device (determination logic) generated by machine learning or the like.
  • the process of specifying the second task to be executed by the driver may be executed by the driver monitor 29.
  • the integrated state estimation unit 73 acquires the information indicating the type of the second task generated by the driver monitor 29 through the communication bus 99 and the information acquisition unit 71.
  • the provision control unit 74 integratedly controls the provision of information to the driver using each display device and the audio device 24.
  • the provision control unit 74 can change the display size and display layout of each content to be displayed on each display device according to the priority set for each content. As an example, the provision control unit 74 causes the content having a higher priority to have a larger display size or to be displayed on the front side of the screen in appearance.
  • the provision control unit 74 has an arbitration function for arbitrating the information presented to the driver and a data generation function for generating video data and audio data based on the arbitration result.
  • the provision control unit 74 sets the above-mentioned priority for each content that is a provision candidate based on various acquisition information acquired by the information acquisition unit 71.
  • the provision control unit 74 selects the content determined to have a high priority as the content to be provided to the driver.
  • the provision control unit 74 generates control signals and video data to be provided to each display device and control signals and audio data to be provided to the audio device 24 based on the content selection result.
  • the providing control unit 74 sequentially outputs the generated control signal, video data, audio data, and the like to each presentation device.
  • the provision control unit 74 displays the video of the second task mode DMn including the entertainment content such as the video content CTV as shown in FIG. 4 of the CID 22. Display on the screen.
  • the display of the second task mode DMn includes a moving image content CTV and a navigation map MP.
  • the provision control unit 74 divides the vertically long screen of the CID 22 into two upper and lower screen areas for use.
  • the moving image content CTV is displayed in the upper screen area (hereinafter, main display area DA1) so that the driver can easily see it.
  • the navigation map MP is displayed in the lower screen area (hereinafter, sub display area DA2).
  • the content displayed together with the video content CTV and the like may be changed as appropriate. Further, in the second task mode DMn, the moving image content CTV may be displayed on the entire screen of the CID 22. Further, the content displayed in the second task mode DMn may be preset by a driver or the like.
  • the driver When the driver is performing such a second task, the driver's attention is away from the driving operation. Therefore, during the execution of the second task, the driver tends to be anxious about the behavior change due to the automatic driving control of the automatic driving ECU 50b.
  • the emergency vehicle Qs see FIG. 8 etc.
  • the vehicle Am hereinafter, also referred to as the own vehicle
  • the driver in the state of the second task approaches the emergency vehicle Qs. It becomes difficult to notice.
  • the behavior change corresponding to the approach of the emergency vehicle Qs may cause anxiety to the driver.
  • the HCU 100 and the automatic driving ECU 50b carry out processing corresponding to the emergency vehicle Qs approaching the own vehicle.
  • the details of the operation of the HCU 100 and the automatic driving ECU 50b related to the response to the emergency vehicle Qs will be described in order with reference to FIGS. 1 to 3.
  • the emergency vehicle Qs includes, for example, at least one of a fire-fighting vehicle, an emergency vehicle, a police vehicle, and the like. Further, "emergency vehicle Qs" in the present disclosure indicates an emergency vehicle Qs traveling for emergency business unless otherwise specified.
  • the provision control unit 74 limits the provision of entertainment content by the second task mode DMn by the arbitration function.
  • the provision control unit 74 gradually limits the provision of entertainment-related contents.
  • the provision control unit 74 switches the strength of the content provision restriction in four stages including the state where there is no restriction (see FIG. 4).
  • the restricted display mode DMr1 shown in FIG. 5 is a display mode when the restriction on the provision of entertainment content is the weakest.
  • the restricted display mode DMr1 is selected in a scene in which level 3 automatic driving is continued in the future and the behavior of the own vehicle is unlikely to change due to the approach of the emergency vehicle Qs.
  • the emergency vehicle notification MWq is displayed in the main display area DA1.
  • the emergency vehicle notification MWq is a display object including a warning message such as "Be careful when approaching an emergency vehicle".
  • the emergency vehicle notification MWq is displayed in a horizontally long strip near the upper edge of the main display area DA1.
  • the emergency vehicle notification MWq is superimposed on a part of the video content CTV in the main display area DA1. Most of the video content CTV is displayed without being hidden by the emergency vehicle notification MWq.
  • the reproduction of the video and audio of the moving image content CTV is continued. Therefore, the viewing of the moving image content CTV by the driver can be continued without being substantially hindered by the additional display of the emergency vehicle notification MWq.
  • the back monitor image BM is displayed in the sub display area DA2 instead of the navigation map MP (see FIG. 4).
  • the back monitor image BM is a rear or rear side image taken by the camera unit 31.
  • the providing control unit 74 can appropriately switch the camera unit 31 that is the source of the back monitor image BM so that the emergency vehicle Qs approaching the own vehicle is displayed on the screen.
  • the providing control unit 74 may generate the back monitor video BM by connecting the video data of the plurality of camera units 31.
  • the back monitor image BM notifies the driver of the approach of the emergency vehicle Qs together with the emergency vehicle notification MWq.
  • the driver does not actually look around the vehicle, in other words, without interrupting the viewing of the video content CTV, in an emergency vehicle. You can grasp the approach status of Qs.
  • the restricted display mode DMr2 shown in FIG. 6 is a display mode when the restriction on the provision of entertainment content is moderate.
  • the restricted display mode DMr2 is selected in a scene in which the behavior of the own vehicle is likely to change due to the approach of the emergency vehicle Qs while the level 3 automatic driving is continued in the future.
  • the restricted display mode DMr2 is a display mode that guides the driver's attention to watch the moving image content CTV to the surroundings of the own vehicle.
  • the emergency vehicle notification MWq is displayed in the main display area DA1 as in the restricted display mode DMr1 (see FIG. 5). At this time, a voice message such as "Be careful when approaching an emergency vehicle" is reproduced by the audio device 24.
  • the limited display mode DMr1 in the limited display mode DMr2, the reproduction of the video of the moving image content CTV is temporarily stopped.
  • the display is not switched from the navigation map MP to the back monitor image BM (see FIG. 5). If the back monitor image BM is displayed on the CID 22, it becomes difficult for the driver to pay attention to the surroundings of the vehicle. Therefore, in the restricted display mode DMr2, the display of the navigation map MP is continued.
  • the audio reproduction of these contents is performed in consideration of the convenience of the user by reproducing an audio message that alerts the emergency vehicle Qs. It may be restarted after completion. In this case, it is desirable that the playback volume be lower than before switching to the limited display mode DMr2 so that the siren sound of the emergency vehicle Qs can be easily heard by the driver.
  • the restricted display mode DMr3 shown in FIG. 7 is a display mode when the restriction on the provision of entertainment content is the strongest.
  • the restricted display mode DMr3 is selected when the level 3 automatic operation ends, in other words, in the scene where the request for driving change occurs or in the scene where the request for driving change occurs.
  • both video and audio playback of the video content CTV are stopped.
  • the viewing of the moving image content CTV by the driver is forcibly terminated at the discretion of the system side.
  • the provision control unit 74 replaces the display content of the main display area DA1 with the display content of the sub display area DA2.
  • the paused moving image content CTV moves to the sub display area DA2.
  • the navigation map MP moves to the main display area DA1.
  • the provision control unit 74 displays the emergency vehicle warning MWa by at least one of the meter display 21 and the HUD23 (see FIG. 1).
  • the emergency vehicle warning MWa is a display object including a warning message such as "an emergency vehicle is approaching".
  • the warning by the emergency vehicle warning MWa is stronger than the warning by the emergency vehicle notification MWq (see FIG. 6).
  • the emergency vehicle warning MWa is displayed at the center of the screen of the meter display 21 or the center of the angle of view VA (see FIG. 1) of the HUD 23 so that the driver who has turned his / her line of sight around the vehicle can easily see the vehicle.
  • the providing control unit 74 causes the audio device 24 to reproduce a voice message such as "an emergency vehicle is approaching".
  • the provision control unit 74 can change the method of notifying or warning the approach of the emergency vehicle Qs according to the type of the second task being executed determined by the integrated state estimation unit 73. As an example, when it is determined that the integrated state estimation unit 73 is operating a smartphone or the like, the provision control unit 74 displays a display object corresponding to the emergency vehicle notification MWq or the emergency vehicle warning MWa on the screen of the smartphone. Display. In addition, when the driver is performing an act such as eating, the provision control unit 74 notifies the approach of the emergency vehicle Qs by a method such as playing a voice message or lowering the volume of the video content CTV or the like. Further, the provision control unit 74 may change whether the second task itself is terminated or a part of the second task is restricted depending on the type of the second task being executed.
  • the display mode switching control by the HCU 100 described so far is realized by cooperation with the automatic operation ECU 50b shown in FIGS. 1 and 3.
  • the details of the functions of the environment recognition unit 61 and the action judgment unit 62 related to the response to the emergency vehicle Qs will be described.
  • the environment recognition unit 61 determines whether or not the emergency vehicle Qs is approaching the own vehicle at least during the automatic driving period in which level 3 automatic driving is performed.
  • the environment recognition unit 61 has an emergency vehicle detection unit 65, a lane grasping unit 66, and a road condition grasping unit 67 as auxiliary functional units based on the automatic driving control program in order to grasp the approach status of the emergency vehicle Qs to the own vehicle. Has.
  • the emergency vehicle detection unit 65 detects the approach of the emergency vehicle Qs to the own vehicle by using the acquired information acquired from a plurality of information sources. In addition, when the emergency vehicle detection unit 65 detects the approach of the emergency vehicle Qs, the emergency vehicle detection unit 65 further detects the type, relative position, movement direction, etc. of the emergency vehicle Qs as detailed information of the emergency vehicle Qs. The emergency vehicle detection unit 65 provides the detection result and detailed information of the emergency vehicle Qs to the action determination unit 62 as emergency vehicle information.
  • the emergency vehicle detection unit 65 can acquire emergency vehicle information by vehicle-to-vehicle communication and road-to-vehicle communication.
  • the emergency vehicle Qs uses at least one of vehicle-to-vehicle communication, road-to-vehicle communication, and mobile communication to provide information such as the current position, traveling speed, and planned traveling route to the traffic management center and other surrounding areas. It can be transmitted to vehicles and the like. Therefore, the vehicle-to-vehicle communication device 37 receives the emergency vehicle information by vehicle-to-vehicle communication with the emergency vehicle Qs.
  • the road-to-vehicle communication device 38 receives emergency vehicle information regarding the approaching emergency vehicle Qs delivered by, for example, the traffic management center by road-to-vehicle communication with the roadside unit.
  • the vehicle-to-vehicle communication device 37 and the road-to-vehicle communication device 38 receive the emergency vehicle information
  • the vehicle-to-vehicle communication device 37 provides the received emergency vehicle information to the emergency vehicle detection unit 65.
  • the emergency vehicle detection unit 65 can acquire the emergency vehicle information based on the detection information of the peripheral monitoring sensor 30.
  • the emergency vehicle detection unit 65 detects the approach of the emergency vehicle Qs by extracting the emergency vehicle Qs captured in the image data captured by the camera unit 31, for example, by using a technique such as pattern matching.
  • the emergency vehicle detection unit 65 tracks changes in the position and size of the emergency vehicle Qs reflected in the captured data over time, and generates detailed information about the emergency vehicle Qs.
  • the emergency vehicle detection unit 65 extracts the sound of the siren emitted by the emergency vehicle Qs from the environmental sound collected by the microphone 33.
  • the emergency vehicle detection unit 65 detects the approach of the emergency vehicle Qs.
  • the emergency vehicle detection unit 65 generates detailed information about the emergency vehicle Qs from changes in the volume and frequency of the siren sound.
  • the emergency vehicle detection unit 65 recognizes voices such as "ambulance passes” and “enters an intersection” emitted from the loudspeaker of the emergency vehicle Qs.
  • the emergency vehicle detection unit 65 can generate character data in which the recognized voice is converted into characters and provide the HCU 100 with character data.
  • the lane grasping unit 66 identifies the emergency vehicle lane Lnq (see FIG. 8) on which the emergency vehicle Qs travels based on the position information of the emergency vehicle Qs grasped by the emergency vehicle detecting unit 65.
  • the lane grasping unit 66 grasps the positional relationship between the own vehicle lane Lns (see FIG. 8) in which the own vehicle travels and the emergency vehicle lane Lnq based on the locator information of the own vehicle.
  • the own vehicle lane Lns is an emergency vehicle lane Lnq (see FIG. 13), an adjacent lane Lna (see FIGS. 8 and 11), a separated lane Lnz (see FIG.
  • the adjacent lane Lna is a lane adjacent to the emergency vehicle lane Lnq.
  • the separated lane Lnz is a lane separated from the emergency vehicle lane Lnq. There is at least one lane between the separation lane Lnz and the emergency vehicle lane Lnq.
  • the road condition grasping unit 67 grasps the road condition around the own vehicle by combining the traffic congestion information acquired through the road-to-vehicle communication, the detection information of the peripheral monitoring sensor 30, the vehicle speed information, and the like. Specifically, the road condition grasping unit 67 determines whether or not the own vehicle is traveling in a traffic jam. As an example, the road condition grasping unit 67 is traveling in a traffic jam when there is a vehicle in front traveling in the same lane and the traveling speed is a predetermined speed (for example, 10 km / h or less). Is determined. After determining the traffic jam, the road condition grasping unit 67 determines that the traffic jam has been resolved when the traveling speed exceeds a predetermined speed (for example, 50 km / h).
  • a predetermined speed for example, 50 km / h
  • the road condition grasping unit 67 determines whether all the lanes heading in the same direction are congested, or whether only the own vehicle lane Lns is congested. In other words, the road condition grasping unit 67 determines whether or not there is a non-congested lane Lmp (see FIG. 15) in which the emergency vehicle Qs can travel.
  • the road condition grasping unit 67 may be able to grasp the state of the roadside zone RST (see FIG. 14). As an example, the road condition grasping unit 67 grasps the width of the roadside zone RST and the presence or absence of other vehicles on the roadside zone RST, and determines whether or not the emergency vehicle Qs can travel on the roadside zone RST. In this case, the road condition grasping unit 67 determines whether or not the roadside zone RST can be a non-congested lane.
  • the action judgment unit 62 determines whether or not the level 3 automatic driving restriction is necessary, that is, whether or not the driver is requested to change the driving. ..
  • the action judgment unit 62 sets the automation level control unit 68 and the permission range control unit 69 as auxiliary functional units based on the automatic driving control program in order to judge the future behavior of the own vehicle in response to the approach of the emergency vehicle Qs. Have.
  • the automation level control unit 68 determines whether or not the ongoing automatic driving can be continued when the approach of the emergency vehicle Qs to the own vehicle is detected during the automatic driving period in which the level 3 automatic driving is performed.
  • the automation level control unit 68 performs level 3 automatic driving based on the relative position of the emergency vehicle lane Lnq grasped by the lane grasping unit 66 and the road condition around the own vehicle grasped by the road condition grasping unit 67. Judge whether to continue.
  • the automation level control unit 68 determines that the level 3 automatic driving is restricted, the automation level control unit 68 further determines the control state of the automatic driving after canceling the level 3 automatic driving. Specifically, the automation level control unit 68 further determines whether to end all automatic operation control and switch to manual operation, or to switch to level 1 or level 2 automatic operation or the like. Among the processes for limiting the level 3 automatic operation, the process for switching to the manual operation is referred to as "interruption".
  • the automation level control unit 68 determines whether or not to maintain the traveling speed of the vehicle set for the automatic driving.
  • the emergency vehicle Qs travels in the adjacent lane of the vehicle Am, that is, when the lane grasping unit 66 grasps that the own vehicle lane Lns is the adjacent lane Lna
  • the automation level control unit 68 determines. Decrease the set speed of automatic operation by a predetermined amount. As a result, the set speed after the approach of the emergency vehicle Qs is changed to be lower than the set speed before the approach of the emergency vehicle Qs.
  • the automation level control unit 68 can change the set speed to or less than the legal minimum speed of the expressway.
  • the automation level control unit 68 can avoid deceleration control and perform control according to the speed of the other vehicle Ax in front. This prevents unnecessary risk from occurring due to sudden deceleration of only the vehicle Am.
  • the permission range control unit 69 controls the permission range of the second task permitted to the driver.
  • the permission range control unit 69 continues the permission state in which the second task is permitted to the driver when the approach of the emergency vehicle Qs to the own vehicle is detected during the automatic driving period in which the level 3 automatic driving is performed. Judge whether it is possible or not. Similar to the automation level control unit 68, the permission range control unit 69 has the relative position of the emergency vehicle lane Lnq grasped by the lane grasping unit 66 and the road condition around the own vehicle grasped by the road condition grasping unit 67. Based on, it is judged whether or not the second task can be continued.
  • the permission range control unit 69 determines the interruption of all types of second tasks when the level 3 automatic operation is interrupted. In addition, the permission range control unit 69 determines that the second task is interrupted even when it is determined that the scene is likely to cause a sudden change in behavior of the own vehicle. Further, the permission range control unit 69 may be able to specify a second task to be permitted and a second task not to be permitted among the plurality of types of second tasks.
  • the permission range control unit 69 determines that the second task is interrupted, it further determines that the condition for canceling the interruption is satisfied based on the positional relationship between the vehicle Am, the emergency vehicle Qs, and the other vehicle Ax, the running state, and the like.
  • the permission range control unit 69 can set one or a plurality of cancellation conditions.
  • the permission range control unit 69 can be set as a release condition that a predetermined time has elapsed after the emergency vehicle Qs has overtaken (or overtaken) the vehicle Am.
  • the permission range control unit 69 can set the release condition that the emergency vehicle Qs that has overtaken the vehicle Am is separated from the vehicle Am by a predetermined distance (hereinafter, separation distance DSq, see FIG. 9) or more.
  • the permission range control unit 69 can be set on the condition that the behavior of the other vehicle Ax traveling around the vehicle Am has settled down as a release condition.
  • the permission range control unit 69 can be set on the condition that the emergency vehicle Qs overtakes the vehicle Am and then the vehicle Am overtakes the emergency vehicle Qs again as a release condition (see FIG. 10).
  • the above automation level control unit 68 determines whether or not automatic operation can be continued, the permission range control unit 69 determines whether or not the permission state of the second task can be continued, and the result of determining whether or not the cancellation condition is satisfied is transmitted to the HCU 100 by the action judgment unit 62.
  • the determination result of the approach detection of the emergency vehicle Qs by the emergency vehicle detection unit 65 is also provided to the HCU 100 together with the determination result of whether or not to continue.
  • the determination result of whether or not to continue and the determination result of approach detection provided by the automatic operation ECU 50b are collectively referred to as "continuation determination result”. Further, the judgment result of the establishment of the cancellation condition is described as "the cancellation judgment result”.
  • the HCU 100 implements display control for switching between the second task mode DMn and the restricted display modes DMr1 to DMr3 based on the continuation determination result and the release determination result provided by the automatic operation ECU 50b.
  • the task continuation determination unit 72 is further constructed in the HCU 100 as a functional unit for processing the continuation determination result based on the provided control program.
  • the task continuation determination unit 72 acquires the continuation determination result and the cancellation determination result output from the automatic operation ECU 50b through the communication bus 99 and the information acquisition unit 71.
  • the task continuation determination unit 72 grasps whether or not the approach of the emergency vehicle Qs is detected based on the determination result of the approach detection included in the continuation determination result.
  • the task continuation determination unit 72 refers to the continuation determination result and determines whether or not the permission state in which the second task is permitted to the driver continues. Further, the task continuation determination unit 72 further determines whether or not the level 3 automatic operation is continued by the automatic operation ECU 50b with reference to the continuation determination result.
  • the provision control unit 74 controls the display of each display device.
  • the provision control unit 74 displays the entertainment content provided to the driver in relation to the second task.
  • Such restrictions on the display of the content include, as will be described later, interrupting the reproduction of at least one of the video and audio, hiding a part of the video, lowering the volume, ending the display of the content itself, and the like.
  • the provision control unit 74 switches the display mode of the CID 22 from the second task mode DMn (see FIG. 4) to the restricted display mode DMr1 (see FIG. 5) when the permission state of the second task continues. Further, the providing control unit 74 switches the display mode of the CID 22 from the second task mode DMn to the restricted display mode DMr2 (see FIG. 6) when the level 3 automatic operation continues while the second task permission state does not continue. Further, the providing control unit 74 switches the display mode of the CID 22 from the second task mode DMn to the restricted display mode DMr3 (see FIG. 7) when the level 3 automatic operation does not continue.
  • FIGS. A plurality of specific examples of the approach pattern of the emergency vehicle Qs in which the content display is restricted as described above and the approach pattern of the emergency vehicle Qs in which the content display is not restricted are shown in FIGS. Will be explained in order with reference to.
  • the own vehicle (vehicle Am) is traveling in the adjacent lane Lna adjacent to the emergency vehicle lane Lnq.
  • level 3 autonomous driving is allowed to continue.
  • the continuation of the second task is restricted.
  • another vehicle Ax traveling in the emergency vehicle lane Lnq changes lanes from the emergency vehicle lane Lnq to the own vehicle lane Lns toward the front of the own vehicle (vehicle Am) in order to secure the course of the emergency vehicle Qs. Is expected.
  • the automatic driving ECU 50b changes the set speed of the level 3 automatic driving to a low level, and implements running control for decelerating the own vehicle.
  • the automatic driving ECU 50b causes the own vehicle to follow the other vehicle Ax that has moved to the own vehicle lane Lns, the change for lowering the set speed may be canceled.
  • the permission range control unit 69 determines to interrupt the second task.
  • the provided control unit 74 executes a notification that the traveling speed is lowered due to the approach of the emergency vehicle Qs before the start of the deceleration control.
  • the provision control unit 74 sets the display mode of the CID 22 to the restricted display mode DMr2 (see FIG. 6) in response to the continuation determination result of the action determination unit 62 described above.
  • the provision control unit 74 limits the display of the moving image content CTV by stopping the reproduction of the moving image content CTV and displaying the emergency vehicle notification MWq.
  • level 3 automatic driving is permitted, while the use of the second task is at least restricted for a predetermined time.
  • the provision control unit 74 continues to limit the display of the moving image content CTV until at least one cancellation condition is satisfied by the automation level control unit 68.
  • the provision control unit 74 can appropriately combine a plurality of release conditions.
  • the provision control unit 74 sets the release condition that the emergency vehicle Qs overtaking the own vehicle is separated by the separation distance DSq (see FIG. 9) or more, and displays the video content CTV until the emergency vehicle Qs is separated from the own vehicle by the separation distance DSq or more. Continue to limit.
  • the provision control unit 74 notifies the driver that the second task can be used based on the establishment of the release condition accompanying the securing of the separation distance DSq.
  • the provision control unit 74 starts playing the moving image content CTV based on the user operation instructing the restart of the second task.
  • the provision control unit 74 sets the release condition that the emergency vehicle Qs overtakes the own vehicle and then the own vehicle again overtakes the emergency vehicle Qs that has stopped in the vicinity of the failed vehicle Ab or the accident vehicle or the like. (See FIG. 10).
  • the provision control unit 74 continues to limit the display of the video content CTV until the own vehicle overtakes the emergency vehicle Qs again, and executes the permission notification of the second task at the timing when the own vehicle overtakes the emergency vehicle Qs.
  • the provision control unit 74 continues to limit the display of the video content CTV until the elapse of the predetermined time, with the elapse of the predetermined time after the emergency vehicle Qs overtakes the own vehicle as the cancellation condition.
  • the provision control unit 74 sets the release condition that the behavior of the other vehicle Ax traveling around the own vehicle has settled down, and limits the display of the content until the behavior of the other vehicle Ax has settled down.
  • the automation level control unit 68 is a target of follow-up travel control when the speed of the other vehicle Ax becomes substantially constant in a scene where the other vehicle Ax changes lanes in front of the own vehicle, or the inter-vehicle distance to the other vehicle Ax is the target of the follow-up travel control. When the distance between vehicles is reached, it is determined that the behavior of the other vehicle Ax has settled down.
  • the own vehicle (vehicle Am) is traveling in the adjacent lane Lna, as in the above-mentioned emergency vehicle approach pattern 1 (see FIG. 8).
  • the automation level control unit 68 and the permission range control unit 69 may be used, for example, in the running state of another vehicle Ax traveling in front of the emergency vehicle Qs in the emergency vehicle lane Lnq, or preset by the user. Therefore, it is possible to change the judgment result of whether or not to continue.
  • the display mode of the CID 22 is set to the restricted display mode DMr3 (see FIG. 7).
  • the provision control unit 74 limits the display of the moving image content CTV by stopping the reproduction of the moving image content CTV, moving the sub display area DA2 of the moving image content CTV, and the like.
  • the providing control unit 74 warns the driver of the existence of the approaching emergency vehicle Qs by displaying the emergency vehicle warning MWa using the meter display 21 and the HUD 23. After the emergency vehicle Qs overtakes the vehicle Am, the provision control unit 74 notifies the driver that the level 3 automatic driving has become available, for example, at the timing when the separation distance DSq is secured.
  • the own vehicle (vehicle Am) is traveling in the separated lane Lnz away from the emergency vehicle lane Lnq.
  • level 3 autonomous driving is allowed to continue.
  • the second task is also allowed to continue.
  • the display mode of the CID 22 is set to the restricted display mode DMr1 (see FIG. 5).
  • the reproduction of the moving image content CTV is continued.
  • the presence of the approaching emergency vehicle Qs is notified to the driver by the additional display of the emergency vehicle notification MWq in the main display area DA1 and the display of the back monitor image BM in the sub display area DA2.
  • the own vehicle (vehicle Am) is traveling in the emergency vehicle lane Lnq.
  • this emergency vehicle approach pattern 4 it is considered that it is a desirable behavior of the own vehicle to evacuate from the emergency vehicle lane Lnq by changing the lane to the adjacent lane Lna. Therefore, in the action judgment unit 62, not only the continuation of the second task but also the continuation of the level 3 automatic driving is restricted.
  • the automation level control unit 68 limits the activation of the LCA function by the automatic operation ECU 50b or the operation support ECU 50a. This is because changing lanes by the automatic driving function requires a longer time than changing lanes by manual driving, and the use of the LCA function hinders quick evacuation from the emergency vehicle lane Lnq.
  • the display mode of the CID 22 is set to the restricted display mode DMr3 (see FIG. 7) in response to the continuous determination result that limits both the automatic driving and the second task.
  • the display of the moving image content CTV is restricted.
  • the display of the emergency vehicle warning MWa by the meter display 21 and the HUD 23 warns the driver of the existence of the approaching emergency vehicle Qs.
  • the driver can change the lane to evacuate to the adjacent lane Lna by overriding to voluntarily acquire the control right before the request for taking over the driving operation occurs.
  • the level 3 automatic operation is in the paused state, and the action determination unit 62 shifts the control state to the level 1 operation control by the manual operation or the ACC function.
  • the own vehicle (vehicle Am) is traveling in a traffic jam.
  • the emergency vehicle approach pattern 5 all lanes included in the traveling road are congested.
  • the action determination unit 62 is permitted to continue the second task in addition to the continuation of the level 3 automatic driving.
  • the display mode of the CID 22 is set to the restricted display mode DMr1 (see FIG. 5).
  • the approaching emergency vehicle Qs is displayed by the additional display of the emergency vehicle notification MWq in the main display area DA1 and the display of the back monitor image BM in the sub display area DA2. The existence of is notified to the driver.
  • the action judgment unit 62 changes the judgment as to whether or not the automatic driving and the second task can be continued depending on the positional relationship between the own vehicle and the emergency vehicle Qs. Specifically, the action determination unit 62 limits the continuation of the automatic driving and the second task when the emergency vehicle Qs approaches the own vehicle. As an example, the emergency vehicle Qs can pass through a congested section by traveling on the roadside zone RST. Assuming such a scene, when the emergency vehicle Qs heading for the roadside zone RST approaches the own vehicle, the action judgment unit 62 limits both the continuation of the second task and the automatic driving, and switches to a state corresponding to the driver.
  • the display mode of the CID 22 is set to the restricted display mode DMr3 (see FIG. 7).
  • the display of the moving image content CTV is restricted.
  • the meter display 21 and the HUD 23 display an emergency vehicle warning MWa. In this way, the driver is urged to take action such as evacuating from the path of the emergency vehicle Qs heading for the roadside zone RST.
  • the own vehicle (vehicle Am) is traveling in a traffic jam.
  • the emergency vehicle approach pattern 6 only the own vehicle lane Lns is congested among the plurality of lanes included in the road, and there is a non-congested lane Lnp in which the emergency vehicle Qs can travel. In this case, level 3 autonomous driving is allowed to continue. On the other hand, the continuation of the second task is restricted.
  • the permit range control unit 69 limits the continuation of the second task in order to direct the driver's attention to the outside of the vehicle.
  • the display mode of the CID 22 is set to the restricted display mode DMr2 (see FIG. 6).
  • the provision control unit 74 displays the emergency vehicle notification MWq while stopping the reproduction of the moving image content CTV, and guides the driver's attention to the approaching emergency vehicle Qs.
  • the emergency vehicle Qs is scheduled to leave the main road.
  • the own vehicle vehicle Am
  • the action determination unit 62 determines whether or not the own vehicle can be evacuated from the planned travel route of the emergency vehicle Qs.
  • the action determination unit 62 continues both the level 3 automatic driving and the permission state of the second task.
  • the display mode of the CID 22 is set to the restricted display mode DMr1 as shown in FIG.
  • the emergency vehicle notification MWq additionally displayed in the main display area DA1 and the back monitor image BM displayed in the sub display area DA2 notify the driver of the existence of the approaching emergency vehicle Qs.
  • the imaging data of the camera unit 31 (for example, the left side) including the emergency vehicle Qs is automatically selected and displayed as the back monitor image BM.
  • the emergency vehicle Qs is approaching from the front of the own vehicle (vehicle Am). That is, the own vehicle lane Lns is the opposite lane Lno of the emergency vehicle lane Lnq.
  • the action judgment unit 62 recognizes that the emergency vehicle Qs is approaching from the front of the own vehicle and the traveling direction of the emergency vehicle Qs is opposite to the traveling direction of the own vehicle, the level 3 automatic driving and the second Continue the permission status of the task together.
  • the display mode of the CID 22 is set to the second task mode DMn without limitation as shown in FIG.
  • the emergency vehicle notification MWq is temporarily displayed so as to overlap a part of the moving image content CTV.
  • the emergency vehicle notification MWq is displayed in a horizontally long strip near the upper edge of the main display area DA1 as in the restricted display mode DMr1.
  • the emergency vehicle notification MWq includes a message such as "an emergency vehicle is approaching from the front" so as to notify the presence of the emergency vehicle Qs traveling in the oncoming lane.
  • the display of the emergency vehicle notification MWq when the emergency vehicle Qs is approaching from the front ends after a lapse of a predetermined time (for example, about several seconds). Even with such a short display, the driver can grasp the state outside the vehicle through the emergency vehicle notification MWq while continuing to watch the video content CTV, in other words, without performing peripheral monitoring. Therefore, the emergency vehicle notification MWq can give the driver a sense of security.
  • the automatic driving ECU 50b restarts the level 3 automatic driving based on the input of the return operation by the driver. .. Further, the automatic driving ECU 50b can automatically restart the level 3 automatic driving based on the recognition of the driving environment around the own vehicle by the environment recognition unit 61. Specifically, when the emergency vehicle Qs moves ahead of the vehicle, the automatic driving ECU 50b raises the automatic driving restricted to, for example, level 2 (running in the lane by the LTA function) to level 3.
  • the automatic driving ECU 50b when the own vehicle changes lanes from the emergency vehicle lane Lnq to the adjacent lane Lna, the automatic driving ECU 50b returns to the original lane and then restarts the level 3 automatic driving. Further, the automatic driving ECU 50b monitors the situation of one or a plurality of vehicles in front (other vehicle Ax) traveling in the own vehicle lane Lns, and if the lane change of the vehicle in front is not detected for a certain period of time, the behavior of the vehicle in front It is estimated that the vehicle has settled down, and level 3 automatic operation is resumed. As described above, the automatic operation ECU 50b may automatically return from the manual operation to the level 3 automatic operation, or may return from the level 1 or 2 automatic operation to the level 3 automatic operation.
  • FIGS. 20 to 20 show the details of each process for discriminating the emergency vehicle approach pattern and determining whether or not to continue, and the details of each process for switching the display mode based on the continuation judgment result and the cancellation judgment result. 23 will be described below with reference to FIGS. 3 to 19.
  • the automatic operation continuation determination process shown in FIG. 20 is started by the automatic operation ECU 50b based on the start of the level 3 automatic driving period.
  • the automatic operation ECU 50b continues the automatic operation continuation determination process until the level 3 automatic operation is restricted.
  • S101 it is determined whether or not the emergency vehicle Qs is approaching the own vehicle. If it is determined in S101 that the emergency vehicle Qs is not approaching, the process proceeds to S109, it is determined that the level 3 automatic driving is to be continued, and the process returns to S101. On the other hand, if it is determined in S101 that the emergency vehicle Qs is approaching, the process proceeds to S102. In S102, the latest vehicle information related to the vehicle such as locator information, vehicle speed information, and recognition information around the vehicle is acquired, and the process proceeds to S103. In S103, the emergency vehicle information is acquired, and the process proceeds to S104.
  • S102 the latest vehicle information related to the vehicle such as locator information, vehicle speed information, and recognition information around the vehicle is acquired, and the process proceeds to S103.
  • S103 the emergency vehicle information is acquired, and the process proceeds to S104.
  • S104 the positional relationship between the emergency vehicle Qs and the own vehicle is grasped, and it is determined whether or not the vehicle is traveling in the opposite lane Lno of the emergency vehicle lane Lnq.
  • the own vehicle is traveling in the opposite lane Lno as in the above "emergency vehicle approach pattern 8 (see FIG. 18)", and the emergency vehicle Qs traveling in the oncoming lane approaches from the front of the own vehicle. If it is determined that the vehicle is present, the process proceeds to S110 and it is determined that the automatic operation is continued. On the other hand, if it is determined in S104 that the emergency vehicle Qs is approaching from behind the own vehicle, the process proceeds to S105.
  • S105 it is determined whether or not the own vehicle can be evacuated outside the planned route of the emergency vehicle Qs. In S105, it is determined whether or not the planned travel line of the own vehicle can be removed from the planned travel route based on the planned travel route of the emergency vehicle Qs acquired in S103. If the planned travel line of the own vehicle cannot be removed from the planned travel route of the emergency vehicle Qs, it is determined in S105 that it is impossible to evacuate to the outside of the planned travel route, and the process proceeds to S106.
  • the operation execution unit 63 executes the evacuation travel outside the planned travel route according to the scheduled travel line generated by the action determination unit 62.
  • S106 the road condition around the own vehicle is determined.
  • S106 when it is determined that the own vehicle is traveling in a traffic jam and all the lanes are in a traffic jam, for example, as in "Emergency vehicle approach pattern 5 (see FIG. 14)", the process proceeds to S107. ..
  • S107 it is determined whether or not the distance from the own vehicle to the emergency vehicle Qs is secured.
  • S107 for example, it is determined that the emergency vehicle Qs trying to travel on the roadside zone RST is approaching directly behind or beside the own vehicle, in other words, the own vehicle and the emergency vehicle Qs are adjacent to each other on the road. In that case, it is determined that the distance is not secured, and the process proceeds to S111.
  • S111 it is determined that the level 3 automatic operation is restricted, and a series of continuous determination processes is terminated.
  • the process proceeds to S110 and it is determined that the automatic driving is continued. do.
  • S106 it is determined that there is a non-congested lane Lnp through which the emergency vehicle Qs can pass while the own vehicle lane Lns is congested, for example, as in "Emergency vehicle approach pattern 6 (see FIG. 15)". In that case, it is determined that the process proceeds to S110 and the automatic operation is continued. On the other hand, if it is determined in S106 that the surroundings of the own vehicle are not congested (non-congestion determination), the process proceeds to S108.
  • the positional relationship between the emergency vehicle lane Lnq and the own vehicle is determined. If it is determined in S108 that the own vehicle and the emergency vehicle Qs are traveling in the same lane as in "emergency vehicle approach pattern 4 (see FIG. 13)", the process proceeds to S111 and level 3 automatic driving is performed. Is determined to be restricted, and a series of continuous determination processes are terminated.
  • S109 may be omitted in the case of setting to continue automatic driving even if the own vehicle is traveling in the adjacent lane Lna, for example, as in "Emergency vehicle approach pattern 1 (see FIG. 8)". In this case, unless the own vehicle and the emergency vehicle Qs are located in the same lane, it is determined in S110 that the automatic driving is continued.
  • the continuation determination process of the second task shown in FIG. 21 is started by the automatic operation ECU 50b based on the start of the automatic driving period, similarly to the continuation determination process of the automatic operation.
  • the automatic operation ECU 50b repeatedly starts the continuation determination process of the second task in parallel with the continuation determination process of the automatic operation until the automatic operation of the level 3 is restricted.
  • S131 it is determined whether or not the emergency vehicle Qs is approaching the own vehicle. In S131, it is also determined whether or not the emergency vehicle Qs is approaching from behind the own vehicle. If it is determined in S131 that the emergency vehicle Qs is approaching from behind, the process proceeds to S132. On the other hand, if it is determined in S131 that the emergency vehicle Qs is not approaching, or if it is determined that the emergency vehicle Qs is approaching from the front of the own vehicle, the process proceeds to S140.
  • the action judgment unit 62 gives a notification indicating that the emergency vehicle Qs is not approaching, or a notification indicating that the emergency vehicle Qs is approaching from the front, and a notification indicating permission to continue the automatic driving and the second task.
  • the continuation judgment result including with is generated and output to the HCU 100.
  • S132 it is determined whether or not the level 3 automatic operation has been canceled by the continuation determination process of the automatic operation or the like. If it is determined in S132 that the level 3 automatic operation is continuing, the process proceeds to S133. On the other hand, if it is determined in S132 that the level 3 automatic operation has been interrupted (released), the process proceeds to S142. In S142, it is determined that the second task is restricted (interrupted), and the continuation determination process is terminated. In this case, the action determination unit 62 generates a continuation determination result including a notification instructing the automatic driving and interruption of the second task together with a notification indicating the approach of the emergency vehicle Qs from behind, and outputs the notification to the HCU 100.
  • S133 the latest vehicle information related to the vehicle is acquired, and the process proceeds to S134.
  • S134 the emergency vehicle information is acquired and the process proceeds to S135.
  • S135 it is determined whether or not the own vehicle can be evacuated outside the planned route of the emergency vehicle Qs.
  • the process proceeds to S141.
  • S141 it is determined that the permission state of the second task is to be continued, and the continuation determination process is temporarily terminated.
  • the action determination unit 62 generates a continuation determination result including a notification indicating the permission to continue the automatic driving and the second task together with the notification indicating the approach of the emergency vehicle Qs, and outputs the notification to the HCU 100.
  • S135 determines whether the own vehicle cannot be evacuated from the planned travel route of the emergency vehicle Qs. If it is determined in S135 that the own vehicle cannot be evacuated from the planned travel route of the emergency vehicle Qs, the process proceeds to S136. In S136, the road condition around the own vehicle is determined. If it is determined in S136 that the own vehicle is traveling in a traffic jam and all the lanes are in a traffic jam (see FIG. 14), the process proceeds to S137.
  • S137 it is determined whether or not the distance from the own vehicle to the emergency vehicle Qs is secured. If it is determined in S137 that the emergency vehicle Qs is approaching the close distance of the own vehicle, the process proceeds to S142, it is determined that the second task is restricted, and the continuation determination process is temporarily terminated. On the other hand, if it is determined in S137 that the distance to the emergency vehicle Qs is secured, the process proceeds to S141, it is determined that the second task is to be continued, and the continuation determination process is temporarily terminated.
  • S138 the positional relationship between the emergency vehicle lane Lnq and the own vehicle is determined. If it is determined in S138 that the own vehicle and the emergency vehicle Qs are traveling in the same lane (see FIG. 13), the process proceeds to S142, it is determined that the second task is interrupted, and the continuation determination process is temporarily terminated. On the other hand, if it is determined in S138 that the own vehicle is not traveling in the emergency vehicle lane Lnq, the process proceeds to S139.
  • S139 the positional relationship between the adjacent lane Lna and the own vehicle is determined.
  • the process proceeds to S141, it is determined that the permission state of the second task is to be continued, and the continuation determination process is temporarily terminated.
  • the second task is interrupted by proceeding to S142, and the continuation determination process is temporarily terminated. ..
  • the display control process shown in FIG. 22 is started by the HCU 100 based on the start of display of entertainment content such as video content CTV.
  • the HCU 100 repeatedly starts the display control process until the second task is interrupted or the end operation of the moving image content CTV by the driver is input.
  • S151 the continuation determination result provided by the automatic operation ECU 50b is acquired, and the process proceeds to S152.
  • S152 the presence / absence of the notification indicating the approach of the emergency vehicle Qs is determined with reference to the continuation determination result acquired in S151. If it is determined in S152 that there is no notification indicating the approach of the emergency vehicle Qs, the display control process is temporarily terminated. On the other hand, if it is determined in S152 that there is a notification indicating the approach of the emergency vehicle Qs, the process proceeds to S153.
  • S153 With reference to the continuation determination result acquired in S151, it is determined whether or not there is a notification indicating the approach of the emergency vehicle Qs from the front of the own vehicle. If it is determined in S153 that the emergency vehicle Qs is approaching from the front of the own vehicle, the process proceeds to S154.
  • the emergency vehicle notification MWq is temporarily additionally displayed in the main display area DA1 of the normal second task mode DMn (see FIG. 19), and the driver is notified of the approach of the emergency vehicle Qs from the front.
  • the emergency vehicle notification MWq is terminated based on the elapse of a predetermined time, and the display control process is temporarily terminated.
  • the process proceeds to S155.
  • the continuation determination result acquired in S151 is referred to, and it is determined whether or not the state in which the second task is permitted to the driver continues. If it is determined in S155 that the permission state of the second task continues, the process proceeds to S156.
  • the driver is notified of the approach of the emergency vehicle Qs by the additional display of the emergency vehicle notification MWq by switching to the restricted display mode DMr1 (see FIG. 5), and the display control process is temporarily terminated.
  • S155 if it is determined in S155 that the permission status of the second task does not continue, the process proceeds to S157.
  • S157 the continuation determination result acquired in S151 is referred to, and it is further determined whether or not the level 3 automatic operation is continued. If it is determined in S157 that the automatic operation will continue, the process proceeds to S158.
  • S158 the provision of the moving image content CTV is terminated by switching to the restricted display mode DMr2 (see FIG. 6).
  • the driver is notified of the approach of the emergency vehicle Qs by the additional display of the emergency vehicle notification MWq, and the display control process is temporarily terminated.
  • S156 determines whether the automatic operation does not continue. If it is determined in S156 that the automatic operation does not continue, the process proceeds to S159.
  • S159 by switching to the restricted display mode DMr3 (see FIG. 7), the provision of the moving image content CTV is terminated, and the display layout is changed to replace the contents of the main display area DA1 and the sub display area DA2. move on.
  • S160 an emergency vehicle warning MWa is displayed on at least one of the meter display 21 and the HUD 23 to warn the driver of the approach of the emergency vehicle Qs, and the display control process is temporarily terminated.
  • the display control process shown in FIG. 23 is started by the HCU 100 based on switching the display mode to the restricted display modes DMr1 to DMr3.
  • the release determination result provided by the automatic operation ECU 50b is acquired, and the process proceeds to S172.
  • the cancellation determination result acquired in S171 is referred to, and it is determined whether or not the cancellation condition for permitting the cancellation of the display restriction of the moving image content CTV is satisfied. If it is determined in S172 that at least one preset release condition is satisfied, the process proceeds to S173.
  • the restriction display modes DMr1 to DMr3 are allowed to be released, and the display control process is terminated. In this case, the display mode is switched from the restricted display modes DMr1 to DMr3 to the normal second task mode DMn automatically or based on the user operation.
  • the HCU 100 of the first embodiment described so far displays the video content CTV when it is determined that the permission state of the second task does not continue due to the approach of the emergency vehicle Qs to the own vehicle when the driver is performing the second task. To limit. Therefore, even during the second task, the driver can easily notice the approach of the emergency vehicle Qs due to the display limitation that occurs in the moving image content CTV. According to the above, even if the emergency vehicle Qs approaches during the level 3 automatic driving, it is possible to make it difficult for the driver to be anxious.
  • the provision control unit 74 of the first embodiment continues to restrict the display of the video content CTV until at least one cancellation condition is satisfied. Therefore, the driver can pay appropriate attention to the emergency vehicle Qs without being hindered by the continuation of the provision of the moving image content CTV.
  • the provision control unit 74 of the first embodiment sets the lapse of a predetermined time after the emergency vehicle Qs overtakes the own vehicle as a release condition, and continues to limit the display of the content until the lapse of the predetermined time. According to the above, the display restriction of the moving image content CTV is not released during the period when the behavior change caused by the emergency vehicle Qs is likely to occur. Therefore, the situation where the driver becomes uneasy due to the early resumption of the second task can be avoided.
  • the provision control unit 74 of the first embodiment sets the release condition that the emergency vehicle Qs overtaking the own vehicle is separated by the separation distance DSq or more, and restricts the display of the video content CTV until the emergency vehicle Qs is separated by the separation distance DSq or more. continue. Even with such display restrictions, the display restrictions of the moving image content CTV are not released during the period in which the behavior change due to the emergency vehicle Qs is likely to occur. Therefore, the situation where the driver becomes uneasy due to the early resumption of the second task can be avoided.
  • the provision control unit 74 of the first embodiment continues to limit the display of the video content CTV until the behavior of the other vehicle Ax settles down on the condition that the behavior of the other vehicle Ax traveling around the own vehicle has settled down. do. According to the above, the display restriction of the moving image content CTV is not released during the period in which the behavior change due to the movement of the other vehicle Ax is likely to occur. Therefore, the situation where the driver becomes uneasy due to the early resumption of the second task can be avoided.
  • the provision control unit 74 of the first embodiment displays the content until the emergency vehicle Qs overtakes the emergency vehicle Qs again, on the condition that the own vehicle overtakes the emergency vehicle Qs again. Continue the restrictions. According to the setting of such a release condition, in a scene where the emergency vehicle Qs stops at the scene of a failure or an accident, the display restriction can be released after having the driver confirm the stop of the emergency vehicle Qs. As a result, the driver can safely resume the second task.
  • the approach of the emergency vehicle Qs is notified. According to such notification, the driver can grasp the state outside the vehicle such as the approach of the emergency vehicle Qs while continuing the second task. As a result, it becomes possible to increase the sense of security of the driver.
  • the task continuation determination unit 72 of the first embodiment detects the approach of the emergency vehicle Qs to the own vehicle by the automatic driving ECU 50b, the task continuation determination unit 72 automatically of level 3 based on the continuation determination result acquired from the automatic driving ECU 50b. Further determine whether the operation will continue. Then, when it is determined that the automatic driving does not continue (see FIG. 7), the display of the moving image content CTV is restricted as compared with the case where it is determined that the automatic driving continues (see FIG. 6). As described above, according to the display control that strongly limits the display of the moving image content CTV when the automatic driving is restricted, the driver can be strongly urged to voluntarily perform peripheral monitoring. As a result, it becomes possible to provide the moving image content CTV that does not interfere with the driver's response to the request for taking over the driving operation from the automatic driving system 50.
  • the automatic driving ECU 50b of the first embodiment determines whether the emergency vehicle Qs is approaching the own vehicle, it determines whether or not the level 3 automatic driving can be continued and whether or not the permitted state of the second task can be continued. Therefore, even during the second task, the driver is more likely to notice the approach of the emergency vehicle Qs because the level 3 automatic driving or the permission state of the second task is not continued. According to the above, even if the emergency vehicle Qs approaches during automatic driving, it is possible to make it difficult for the driver to be anxious.
  • the level 3 automatic driving and the continuation of the second task can be continued based on the relative position of the emergency vehicle lane Lnq with respect to the own vehicle. Based on the above, the continuation of automatic driving and the second task can be appropriately restricted depending on the approaching situation of the emergency vehicle Qs. Therefore, the convenience of the driver can be ensured while not giving anxiety to the driver.
  • the continuation of the level 3 automatic driving is permitted.
  • the continuation of the second task is restricted. Based on the above, the driver's attention can be smoothly transitioned from the second task to the peripheral monitoring of the own vehicle. As a result, the driver is less likely to feel anxious about a change in behavior caused by, for example, an interruption of another vehicle Ax in front of the own vehicle.
  • the traveling speed of the vehicle Am set for the automatic driving is changed to be lower than before the approach of the emergency vehicle Qs.
  • the driver can grasp that the traveling control corresponding to the approach of the emergency vehicle Qs has been started. Based on the above, the anxiety of the driver who recognizes the approach of the emergency vehicle Qs can be further reduced.
  • the emergency vehicle approach pattern 2 when the own vehicle travels in the adjacent lane Lna, the continuation of the level 3 automatic driving is restricted. After that, the driver is notified of the existence of the emergency vehicle Qs. As described above, when the emergency vehicle Qs passes very close to the own vehicle, by terminating the automatic driving and urging the driver to monitor the surroundings, the effect of making the driver less anxious can be further exerted. ..
  • the continuation of the second task is permitted.
  • the driver's high convenience can be ensured by allowing the continuation of the second task.
  • the presence of the emergency vehicle Qs is notified to the driver even if the continuation of the second task is permitted. Therefore, even if a behavior change occurs, the driver is less likely to feel anxiety because he / she knows the cause of the behavior change.
  • the continuation of autonomous driving and the continuation of the second task can be continued based on the road conditions around the own vehicle. Therefore, the continuation of autonomous driving and second tasks can be appropriately restricted depending on the road conditions. As a result, the convenience of the driver can be ensured while not giving anxiety to the driver.
  • the emergency vehicle approach pattern 5 when all the lanes included in the road are congested, the continuation of the second task is permitted.
  • the additional display of the emergency vehicle notification MWq notifies the driver of the approach of the emergency vehicle Qs. According to the above, the driver can continue to watch the video content CTV while recognizing the approach of the emergency vehicle Qs. As a result, the convenience of the driver can be easily ensured.
  • the driver can take flexible measures such as transferring the traveling space to the emergency vehicle Qs who intends to travel on the roadside zone RST.
  • the emergency vehicle approach pattern 6 As shown in the emergency vehicle approach pattern 6 (see FIG. 15), even if the own vehicle lane Lns is congested, when there is a non-congested lane Lnp in which the emergency vehicle Qs can travel, Continued Level 3 autonomous driving is permitted. Therefore, the driving load of the driver traveling in the traffic jam can be reduced. On the other hand, the continuation of the second task is restricted. Therefore, the driver's attention will be directed to the surroundings of the vehicle. Therefore, the driver is less likely to feel anxious about the behavior change caused by the situation such as the other vehicle Ax interrupting the front of the own vehicle.
  • the second embodiment when the planned travel route of the emergency vehicle Qs is known and the own vehicle can be evacuated from this planned travel route, the second embodiment is used. Task continuation is allowed. According to the above, since the occurrence of excessive restrictions on the second task is avoided, the convenience of the driver can be easily ensured.
  • the environment recognition unit 61 corresponds to the "approach determination unit”
  • the action determination unit 62 and the task continuation determination unit 72 correspond to the “continuation determination unit”, respectively
  • the integrated state estimation unit 73 “sleeps”.
  • the provision control unit 74 corresponds to the "estimation unit” and corresponds to the “provision restriction unit”.
  • the automatic driving ECU 50b and the HCU 100 correspond to the "control device”
  • the video content CTV corresponds to the "content”
  • the second task corresponds to the "specific action other than driving”
  • the separation distance DSq corresponds to the "predetermined distance”. Corresponds to.
  • the automatic operation ECU 50b shown in FIG. 3 can perform level 4 automatic operation.
  • the permission range control unit 69 takes an action such as removing the seat bell and sleeping in addition to the act of watching the video content CTV and operating the smartphone. Allow to.
  • the permission range control unit 69 determines whether or not to continue the state in which the driver is permitted to sleep.
  • the automation level control unit 68 continues the level 4 automatic driving even in the scene where the emergency vehicle Qs approaches.
  • the permission range control unit 69 does not allow the continuation of the state in which sleep is permitted in each approach scene of the emergency vehicle Qs in which the level 3 automatic driving or the second task is restricted in the first embodiment.
  • the permission range control unit 69 disallows the driver's sleep in the emergency vehicle approach patterns 1, 2, 4 to 6 of the first embodiment.
  • the permission range control unit 69 permits the driver to continue sleeping. That is, the permission range control unit 69 permits the continuation of sleep when there is no other vehicle Ax around the own vehicle and the emergency vehicle Qs is in a lane different from that of the own vehicle.
  • the permission range control unit 69 permits the continuation of sleep under substantially any situation as long as the emergency vehicle Qs is traveling in the oncoming lane of the own vehicle.
  • the result of determining whether or not to continue sleeping by the permission range control unit 69 is provided to the HCU 100 in the same manner as the result of the continuation determination and the result of the cancellation determination.
  • the HCU 100 starts the sleep monitoring process (see FIG. 24) based on the activation of the level 4 automatic operation by the automatic operation ECU 50b.
  • the sleep monitoring process is executed by the task continuation determination unit 72, the integrated state estimation unit 73, and the provision control unit 74.
  • awakening notification notification for promoting awakening from the sleep state (hereinafter referred to as awakening notification) is performed as needed.
  • the task continuation determination unit 72 acquires the sleep continuation possibility determination result output from the automatic driving ECU 50b through the information acquisition unit 71 (S283).
  • the task continuation determination unit 72 refers to the result of determining whether or not to continue sleeping, and determines whether or not the permitted state in which the driver is allowed to sleep will continue in the future (S284).
  • the integrated state estimation unit 73 acquires driver state information (hereinafter, driver sleep information) indicating whether or not the driver is in a sleep state from the driver monitor 29 through the information acquisition unit 71 (S281 and S286).
  • driver sleep information may be information that indicates whether or not the driver is in a sleep state in a binary manner, or may be information that indicates the driver's sleep state in multiple stages, a score, or the like.
  • the integrated state estimation unit 73 refers to the driver sleep information and estimates whether the driver is in the sleep state or the awake state (S282 and S287).
  • the integrated state estimation unit 73 determines that the driver is in the sleep state (S282: YES), and the task continuation determination unit 72 determines that the sleep permission state does not continue (S282: YES).
  • Awakening notification is performed in S284: NO) (S285).
  • the awakening notification is, for example, an act that mainly reproduces a message voice by the audio device 24.
  • the providing control unit 74 may further perform an operation of raising the backrest of the driver's seat as an awakening notification.
  • the provision control unit 74 ends the awakening notification when the integrated state estimation unit 73 determines that the driver is in the awake state (S287: YES) or when the time-out occurs (S287: YES). S288).
  • the provision control unit 74 sets the start timing of the awakening notification at the time of executing the level 4 automatic driving earlier than the start timing of the display restriction at the time of executing the level 3 automatic driving. do.
  • the threshold value for determining the approach of the emergency vehicle Qs is relaxed when the driver is in a sleeping state when the level 4 automatic driving is performed, as compared with the time when the level 3 automatic driving is performed.
  • the threshold value for determining the approach of the emergency vehicle Qs may be substantially the same timing when the level 4 automatic driving is performed and when the level 3 automatic driving is performed.
  • the second embodiment described so far also has the same effect as that of the first embodiment, and the driver's anxiety at the time of implementing the level 4 automatic driving can be reduced.
  • the sleep permission state when it is determined that the sleep permission state does not continue due to the approach of the emergency vehicle Qs under the condition presumed that the driver is in the sleeping state, an awakening notification for urging the driver to awaken is performed. Will be done.
  • the driver can watch the response to the emergency vehicle Qs by the automatic driving ECU 50b in a state of being awake to some extent. Therefore, the situation where the behavior change of the vehicle Am due to the approach of the emergency vehicle Qs is encountered in the sleeping state is avoided.
  • the provision control unit 74 of the second embodiment provides an awakening notification for urging the driver in the sleeping state to awaken, and an approach notification for notifying the driver in the awake state of the approach of the emergency vehicle Qs when the level 3 automatic driving is performed (FIG. 22). It is carried out at an earlier timing than (see S156 etc.). According to the adjustment of the notification timing, the driver can secure a sufficient time from the sleeping state to awakening and grasping the approach of the emergency vehicle Qs. As a result, it becomes possible to increase the sense of security of the driver.
  • the permission range control unit 69 continues the sleep permission state. Let me. As described above, if the scene is very unlikely to request the driver to respond to the emergency vehicle Qs, the state in which the driver is allowed to sleep may be continued. By omitting such an awakening notification, the convenience of level 4 automatic driving is further improved.
  • the integrated state estimation unit 73 corresponds to the “sleep determination unit”.
  • the determination result of whether or not the second task can be continued is output from the automatic operation ECU 50b to the HCU 100.
  • the provision control unit 74 interrupts the display of the moving image content CTV when the task continuation determination unit 72 determines that the permission state of the second task does not continue.
  • the provision control unit 74 sets the restriction display mode DMr3 and ends the second task being executed by the driver regardless of whether or not the level 3 automatic operation continues.
  • the positional relationship between the emergency vehicle lane Lnq and the own vehicle is used for determining whether or not the level 3 automatic driving and the second task can be continued, while the road condition around the own vehicle is used.
  • the road condition around the own vehicle is used for determining whether or not the automatic driving and the second task can be continued, while the positional relationship between the emergency vehicle lane Lnq and the own vehicle is used. No.
  • the timing of notifying the approach of the emergency vehicle Qs is changed depending on whether or not the own vehicle is traveling in a traffic jam.
  • the timing for notifying the approach of the emergency vehicle Qs is a timing at which the driver can secure a time (for example, about 13 seconds) corresponding to the request for a driving change from the automatic driving system 50. Therefore, when the own vehicle travels in a traffic jam, the provision control unit 74 delays the timing of notifying the approach of the emergency vehicle Qs later than usual.
  • the provision control unit 74 may change the timing of notifying the approach of the emergency vehicle Qs according to the acquisition route of the emergency vehicle information. As an example, when the approach of the emergency vehicle Qs is determined from the detection information of the peripheral monitoring sensor 30, the provision control unit 74 immediately notifies the driver of the approach of the emergency vehicle Qs. On the other hand, when the approach of the emergency vehicle Qs is determined based on the information acquired by the road-to-vehicle communication, the provision control unit 74 determines the approach of the emergency vehicle Qs at the timing when the distance from the emergency vehicle Qs to the own vehicle becomes less than a predetermined distance (for example, about 1 km). , Notifies the driver of the approach of the emergency vehicle Qs.
  • a predetermined distance for example, about 1 km
  • a character message other than the specified is displayed in the emergency vehicle notification MWq and the emergency vehicle warning MWa. More specifically, the emergency vehicle detection unit 65 can recognize the voice emitted from the emergency vehicle Qs and provide the character data to the HCU 100. The provision control unit 74 displays the message text based on the acquired character data on the emergency vehicle notification MWq and the emergency vehicle warning MWa.
  • the display of the content is restricted by the process of pausing the playback of the video content CTV.
  • the method of restricting the display of the content can be changed as appropriate.
  • the display process of graying down the moving image content CTV is performed as a restriction on the display of the content.
  • a window including a warning message is overlapped so as to cover the display center of the moving image content CTV.
  • the combination of conditions for releasing the display restriction set in the first embodiment may be changed as appropriate. For example, when at least one of the above four release conditions is satisfied, the display restriction of the moving image content CTV may be released. In addition, some cancellation conditions may be omitted.
  • the display restriction is released when the predetermined time elapses and the separation distance DSq is secured or when the emergency vehicle Qs is overtaken.
  • the display restriction is released regardless of the elapsed time after overtaking and the distance to the emergency vehicle Qs.
  • the awakening notification when the driver is in the sleeping state is executed at substantially the same timing as the approach notification of the emergency vehicle Qs.
  • the approach notification of the emergency vehicle Qs may also serve as the awakening notification.
  • the continuation of sleep is not permitted regardless of the position of the own vehicle rail or the presence or absence of the other vehicle Ax. Will be done.
  • the notification of the emergency vehicle Qs approaching from the front of the own vehicle is omitted.
  • the display device that displays the content related to the second task is not limited to CID22.
  • the meter display 21 and the HUD 23 may be used to provide entertainment content.
  • each display EMB, EML, EMR of the electronic mirror system may be used to provide the content.
  • the display device for displaying the content may be selectable by the driver.
  • each image displayed on each display device may be changed as appropriate.
  • the language type of the message displayed on each display device may be appropriately changed based on the user settings such as the driver and the settings such as the country and region where the vehicle Am is used.
  • the language type of the voice message reproduced by the audio device 24 may be changed as appropriate.
  • the second task permitted to the driver is not limited to the above-mentioned actions, and may be appropriately changed according to the regulations such as the Road Traffic Act of the country and region where the vehicle Am is used.
  • any one of the meter display 21, the CID 22 and the HUD 23 is integrally configured with the HCU 100.
  • the processing function of the HCU 100 is implemented in the control circuit of any one display device.
  • the display device including the processing function of the HCU 100 corresponds to the “control device”.
  • the automatic driving system 50 of the above embodiment is provided with two in-vehicle ECUs, a driving support ECU 50a and an automatic driving ECU 50b.
  • a driving support ECU 50a may construct the automatic driving system 50.
  • each function of the automatic driving ECU 50b and the HCU 100 of the above embodiment may be mounted on one in-vehicle ECU.
  • each function provided by each of the automatic operation ECU 50b and the HCU 100 can be provided by the software and the hardware for executing the software, the hardware only, the hardware only, or a combination thereof. be. Further, when such a function is provided by an electronic circuit as hardware, each function can also be provided by a digital circuit including a large number of logic circuits or an analog circuit.
  • the form of the storage medium for storing a program or the like capable of realizing the above control method may be changed as appropriate.
  • the storage medium is not limited to the configuration provided on the circuit board, but is provided in the form of a memory card or the like, is inserted into the slot portion, and is electrically connected to the control circuit of the automatic operation ECU or the HCU. It may be.
  • the storage medium may be an automatic operation ECU, an optical disk as a copy base of the program to the HCU, a hard disk drive, or the like.
  • control unit and its method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program.
  • the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit.
  • the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits.
  • the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Dans la présente invention, une HCU est un dispositif de commande utilisé dans un véhicule capable de réaliser une conduite automatique de niveau 3 pour laquelle le conducteur n'est pas obligé de surveiller l'environnement. Lors de la détection qu'un véhicule d'urgence s'approche du véhicule hôte pendant une période de conduite automatique dans laquelle une conduite automatique de niveau 3 est effectuée, la HCU détermine s'il faut ou non maintenir un état dans lequel une seconde tâche est autorisée pour le conducteur. Lorsque la HCU détermine que l'état d'autorisation d'une seconde tâche ne doit pas être maintenu, la HCU limite l'affichage du contenu fourni au conducteur.
PCT/JP2021/010173 2020-04-16 2021-03-12 Dispositif de commande et programme de commande WO2021210316A1 (fr)

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DE112021002344T5 (de) 2023-03-09

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